Brief paper: Autonomous rigid body attitude synchronization
Automatica (Journal of IFAC)
International Journal of Computational Intelligence Studies
Distributed consensus on camera pose
IEEE Transactions on Image Processing
Fast oriented bounding box optimization on the rotation group SO(3,ℝ)
ACM Transactions on Graphics (TOG)
On the performance of high-gain observers with gain adaptation under measurement noise
Automatica (Journal of IFAC)
Rotation averaging with application to camera-rig calibration
ACCV'09 Proceedings of the 9th Asian conference on Computer Vision - Volume Part II
Gossip Coverage Control for Robotic Networks: Dynamical Systems on the Space of Partitions
SIAM Journal on Control and Optimization
Consensus on compact Riemannian manifolds
Information Sciences: an International Journal
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The present paper considers distributed consensus algorithms that involve $N$ agents evolving on a connected compact homogeneous manifold. The agents track no external reference and communicate their relative state according to a communication graph. The consensus problem is formulated in terms of the extrema of a cost function. This leads to efficient gradient algorithms to synchronize (i.e., maximizing the consensus) or balance (i.e., minimizing the consensus) the agents; a convenient adaptation of the gradient algorithms is used when the communication graph is directed and time-varying. The cost function is linked to a specific centroid definition on manifolds, introduced here as the induced arithmetic mean, that is easily computable in closed form and may be of independent interest for a number of manifolds. The special orthogonal group $SO(n)$ and the Grassmann manifold $\text{{\it Grass\/}}(p,n)$ are treated as original examples. A link is also drawn with the many existing results on the circle.